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Design of Vehicle Dynamics feature set #144
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VehiclePhysics.pdf |
Fixes #144 Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
First iteration has been submitted.
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It seems fine to me, I have just one question regarding the diagram: why the WheelControllerComponent is connected to the VehicleModel via WheelsConfiguration, not directly? I'm not saying this is wrong, it just seems more natural for me if these wheel-related components are swapped places. |
WheelsConfiguration is a part of VehicleModel which holds (references) to WheelControllerComponents. |
Ok for me |
The goal is to create Components and classes to support simulation of movement of diverse types of robot mobile bases. The focus in this task should be narrowed down to the type required by the MS2 demo (a four-wheeled, Ackermann drive type), with only rudimentary analysis of other types to understand what generalizations might be useful for the design.
This task should include the following items:
Outcomes:
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